This article presents the novel methodology used in the software InWave to address the problem of wave energy converters (WEC) modelling. The originality compared to other recently developed tools lies in a fast semi-recursive multibody dynamic solver which integrates a flexible hydrodynamic solver. The multibody solver works in time domain and is fully nonlinear. It solves the dynamic of systems formed of a fixed or free base articulated with any number of bodies that can be floating or not, with branchy structure ([1]). The integrated hydrodynamic solver is a linear potential flow solver based on boundary elements method. It uses the generalized degrees of freedom approach ([11]). Combined with a relative coordinate parameterization, it allows for a minimization of the number of hydrodynamic boundary value problems that have to be solved, thus allowing a reduction of computational time both for BEM computations and time domain simulations. Time domain reconstruction is performed to link hydrodynamic loads with the multibody dynamic solver. Interaction between bodies through radiation is thus taken into account. InWave is a complete WEC modelling tool including incident wave generation, multibody dynamic solver, hydrodynamic solver, power take-off and mooring models, post-processing and visualization. A successful comparison with the linear potential flow solver Aquaplus ([5]) on a basic cylinder test case is carried out. Finally, a complex test case on a Langlee-like device is presented, comparing InWave results with those from the NumWec project ([2]). A good agreement between both models is found, which increases the confidence in InWave algorithms and implementation.